CN112257519B - Method for identifying transport route of off-highway dump truck in mining area of surface mine - Google Patents
Method for identifying transport route of off-highway dump truck in mining area of surface mine Download PDFInfo
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- CN112257519B CN112257519B CN202011061029.2A CN202011061029A CN112257519B CN 112257519 B CN112257519 B CN 112257519B CN 202011061029 A CN202011061029 A CN 202011061029A CN 112257519 B CN112257519 B CN 112257519B
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Abstract
The invention relates to a method for identifying a transport route of an off-highway dump truck in a mine area of a surface mine, which comprises the following steps of firstly, arranging GPS data of one day of mine car operation according to a time sequence, and naming the GPS data as a set S, and selecting data points with the speed of 0km/h from the set S and naming the data points as a set G; step two, taking any point P1 in G, respectively calculating the distance between all points except the point P1 in G and the point P1, and taking all points with the distance less than 200 m as the points of a set G1; step three, taking a point P2 from the G, and repeating the operation in the step two; step four, obtaining G1, G2, G3 and G4 … Gn in the same way, calculating the number of points in each set, and taking the two sets with the largest number of points to be named as an A set and a B set respectively, wherein the two sets are points of a mining area and a dumping area respectively; the mine dump truck has the advantages that the running track changes every day, the running track is calculated every day through software, the measuring efficiency is improved, and more time is saved.
Description
Technical Field
The invention belongs to the field of mine transportation, and particularly relates to a method for identifying a transportation route of an off-highway dump truck in a mine area of a surface mine.
Background
The surface mines are in remote areas and the mine dump trucks operating in the mine area are off-highway vehicles, so the route of off-highway mine car operation in the mine area is off-route in electronic maps (Baidu maps, gaudes maps, *** maps, bingMaps). The route in the mining area of the surface mine is changed along with the continuous process of mining, and the elevation of the mining area is also changed along with the elevation of different places where mining is carried out.
Disclosure of Invention
In order to overcome the defects in the background art, the invention discloses a method for identifying a transport route of an off-highway dump truck in a mine area of a surface mine.
In order to achieve the above purpose, the following technical solutions are provided:
a method for identifying a transport route of an off-highway dump truck in a mine area of a surface mine is characterized by comprising the following steps: comprises that
Step one, arranging GPS data of mine cars running for one day according to a time sequence, naming the GPS data as a set S, selecting data points with the speed of 0km/h from the set S, and placing the data points into a set, and naming the set as G;
step two, taking any point P1 in G, respectively calculating the distance between all points except the point P1 in G and the point P1, calculating the straight-line distance between the two points through longitude and latitude coordinates obtained between the two points, taking all points with the distance less than 200 m (the numerical value is obtained according to the running characteristics of the mine dump truck) as the points of a set G1, and putting the points with the distance more than 200 m back into G;
step three, taking a point P2 from the G, repeating the operation in the step two, respectively calculating the distances between all points except the point P2 in the G and the point P2, and taking all points with the distances less than 200 meters as a set G2;
step four, repeating the steps to finally obtain G1, G2, G3 and G4 … Gn and calculate the number of points in each set, and taking the two sets with the largest number of points and respectively naming the two sets as an A set and a B set, wherein the two sets are respectively the points of a mining area and a dumping area;
step five, sorting the data in the A, B two sets according to time, inquiring two points Am and An in the set A, wherein there is a point in the set B between the Am and the An;
step six, respectively taking the time of the Am point and the An point obtained in the step five as the starting time and the ending time, namely the time period for the mine car to go back and forth once;
and step seven, finding out all the points in the time period obtained in the step six in the set S, and connecting the points according to the time sequence, so that the track of the mine car going back and forth once is obtained.
The invention has the beneficial effects that:
according to the mine dump truck, the running track of the mine dump truck changes every day, the running track is calculated every day through software, the measuring efficiency is improved, more time is saved, the function of automatically measuring the running track in a map-free area is realized, and the complexity of manual measurement is avoided.
Drawings
FIG. 1 is a schematic diagram of corresponding set points of a mining area and a dumping area, wherein a small circle represents a point of a mine truck at a speed of 0, a dashed circle represents a range within 200 meters around the point at the speed of 0, and a midpoint in a set G3 and a point in a set G5 correspond to a set mining area A and a set dumping area B at most respectively;
FIG. 2 is a plot of points in a set versus time.
Detailed Description
In order to make the technical solution of the present invention more clear and definite for those skilled in the art, the technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the embodiments of the present invention are not limited thereto.
The operation rule of a dump truck for a surface mine is that the ore is loaded at the point A, the ore is unloaded at the point B, and the vehicle speed at the point A, B is 0Km/h.
All GPS data of the mine car on the route can be obtained through a mine transportation route algorithm, and the GPS data comprises: the data can be used for analyzing the gradient, the haul distance, the transportation time and the transportation speed of the mine car transportation route, the analysis is carried out according to the actual condition of each mining area, and a special tire can be customized for the mining area, so that the service life of the tire can be prolonged, and the safety of the mine car is enhanced.
Carrying distance: the distance of the mine car to go back and forth once. All points in the time period of the mine car going back and forth once can be obtained through an algorithm, the distances between two adjacent points are sequentially calculated according to the time sequence, and the sum of the distances in the time period is the transport distance of the mine car going back and forth once.
The transportation time is as follows: the time required for the mine car to go back and forth once.
The transportation speed is as follows: and dividing the obtained transport distance by the transport time length to obtain the transport speed.
Gradient: the altitude between the two points can be obtained from the GPS data, and the distance between the two points can be obtained by calculation.
The gradient between two points is determined by dividing the height difference between the two points by the distance between the two points.
A method for identifying a transportation route of an off-highway dump truck in a surface mine in a mining area is characterized by comprising the following steps: comprises that
Step one, arranging GPS data of a mine car running for one day according to a time sequence, and naming the GPS data as a set S, selecting data points with the speed of 0km/h from the set S, and placing the data points into a set, and naming the set as G;
step two, taking any point P1 in G, respectively calculating the distance between all points except the point P1 in G and the point P1, calculating the straight-line distance of the two points through longitude and latitude coordinates obtained between the two points, taking all points with the distance less than 200 m (the numerical value is obtained according to the observation of the running characteristics of the mine dump truck) as the points of a set G1, and putting the points with the distance more than 200 m back into G;
step three, taking a point P2 from the G, repeating the operation in the step two, respectively calculating the distances between all points except the point P2 in the G and the point P2, and taking all points with the distances less than 200 meters as a set G2;
step four, repeating the steps to finally obtain G1, G2, G3 and G4 … Gn and calculate the number of points in each set, and taking the two sets with the largest number of points to be named as an A set and a B set respectively, wherein as shown in the figure 1, G3 and G5 are the A set and the B set, the two sets are points of a mining area and a dumping area respectively;
step five, sorting the data in the A, B two sets according to time, inquiring two points Am and An in the set A, wherein the points Am and An have only the point of the set B, and Am and An correspond to A4 and A5 in a coordinate graph, for example, the time of all the points in the 1,B set falls into the time period where Am and An are located;
step six, respectively taking the time of the Am point and the An point obtained in the step five as the starting time and the ending time, namely the time period for the mine car to go back and forth once;
and step seven, finding out all the points in the time period obtained in the step six in the set S, and connecting the points according to the time sequence, so that the track of the mine car going back and forth once is obtained.
While the invention has been described with respect to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (1)
1. A method for identifying a transportation route of an off-highway dump truck in a surface mine in a mining area is characterized by comprising the following steps:
step one, arranging GPS data of a mine car running for one day according to a time sequence, and naming the GPS data as a set S, selecting data points with the speed of 0km/h from the set S, and placing the data points into a set, and naming the set as G;
step two, taking any point P1 in G, respectively calculating the distance between all points except the point P1 in G and the point P1, and taking all points with the distance less than 200 m as the points of a set G1;
step three, taking a point P2 from the G, repeating the operation in the step two, respectively calculating the distances between all points except the point P2 in the G and the point P2, and taking all points with the distances less than 200 meters as a set G2;
step four, repeating the steps to finally obtain G1, G2, G3 and G4 … Gn and calculate the number of points in each set, and taking two sets with the largest number of points to be named as an A set and a B set respectively, so that the two sets are points of a mining area and a dumping area respectively;
step five, sorting the data in the A, B two sets according to time, inquiring two points Am and An in the set A, wherein there is a point in the set B between the Am and the An;
step six, respectively taking the time of the Am point and the An point obtained in the step five as the starting time and the ending time, namely the time period for the mine car to go back and forth once;
and step seven, finding out all the points in the time period obtained in the step six in the set S, and connecting the points according to the time sequence, so that the track of the mine car going back and forth once is obtained.
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| CN105241465B (en) * | 2015-10-20 | 2017-12-22 | 中国有色金属长沙勘察设计研究院有限公司 | A kind of method of road renewal |
| CN106448136B (en) * | 2016-05-26 | 2019-02-22 | 中国铝业股份有限公司 | Car-haul method of counting |
| US11366478B2 (en) * | 2016-11-10 | 2022-06-21 | Ohio University | Autonomous automobile guidance and trajectory-tracking |
| CN109190835B (en) * | 2018-09-13 | 2021-08-03 | 西安建筑科技大学 | Time window limitation-based strip mine truck dispatching path optimization method |
| CN109910667A (en) * | 2019-03-07 | 2019-06-21 | 福建中维动力科技股份有限公司 | A kind of hybrid power system and control method of Mine haul vehicle |
| CN110160537A (en) * | 2019-04-15 | 2019-08-23 | 深圳中兴网信科技有限公司 | Detection method, system and the computer readable storage medium of vehicle operation |
| CN111338354B (en) * | 2020-03-27 | 2022-10-18 | 淮安信息职业技术学院 | Track following control method, device and system for tracked vehicle |
| CN111551958B (en) * | 2020-04-28 | 2022-04-01 | 北京踏歌智行科技有限公司 | Mining area unmanned high-precision map manufacturing method |
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